Abstract
Ionic polymer-metal composites (IPMCs) have intrinsic sensing and actuation properties. An IPMC sensor typically has the beam shape and responds to bending deflections only. Recently tubular IPMCs have been proposed for omnidirectional sensing of bending stimuli. In this paper we report, to our best knowledge, the first study on torsion sensing with tubular IPMCs. In particular, a dynamic, physics-based model is presented for a tubular IPMC sensor under pure torsional stimulus. With the symmetric tubular structure and the pure torsion condition, the stress distribution inside the polymer only varies along the radial direction, resulting in a one-dimensional model. The dynamic model is derived by analytically solving the governing partial differential equation, accommodating the assumed boundary condition that the charge density is proportional to the mechanically induced stress. Experiments are further conducted to estimate the physical parameters of the proposed model.
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